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<div class="title">TMC5160Stepper.cpp</div>  </div>
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<a href="_t_m_c5160_stepper_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_t_m_c_stepper_8h.html">TMCStepper.h</a>&quot;</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_t_m_c___m_a_c_r_o_s_8h.html">TMC_MACROS.h</a>&quot;</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno"><a class="line" href="class_t_m_c5160_stepper.html#a6bac7c5223645da8e54aca6ff9ad700f">    4</a></span>&#160;<a class="code" href="class_t_m_c5160_stepper.html#a6bac7c5223645da8e54aca6ff9ad700f">TMC5160Stepper::TMC5160Stepper</a>(uint16_t pinCS, <span class="keywordtype">float</span> RS, int8_t link) : <a class="code" href="class_t_m_c5130_stepper.html">TMC5130Stepper</a>(pinCS, RS, link)</div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;  { <a class="code" href="class_t_m_c5160_stepper.html#a2b9b72c13c1f667d274927e1d56d2298">defaults</a>(); }</div>
<div class="line"><a name="l00006"></a><span class="lineno"><a class="line" href="class_t_m_c5160_stepper.html#ad0f698ae6d90619b534685d0ef53ffc9">    6</a></span>&#160;<a class="code" href="class_t_m_c5160_stepper.html#a6bac7c5223645da8e54aca6ff9ad700f">TMC5160Stepper::TMC5160Stepper</a>(uint16_t pinCS, <span class="keywordtype">float</span> RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :</div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;  <a class="code" href="class_t_m_c5130_stepper.html">TMC5130Stepper</a>(pinCS, RS, pinMOSI, pinMISO, pinSCK, link)</div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;  { <a class="code" href="class_t_m_c5160_stepper.html#a2b9b72c13c1f667d274927e1d56d2298">defaults</a>(); }</div>
<div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="class_t_m_c5160_stepper.html#a755dbd24ac852cede5f84fee827cc5dd">    9</a></span>&#160;<a class="code" href="class_t_m_c5160_stepper.html#a6bac7c5223645da8e54aca6ff9ad700f">TMC5160Stepper::TMC5160Stepper</a>(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;  <a class="code" href="class_t_m_c5130_stepper.html">TMC5130Stepper</a>(pinCS, default_RS, pinMOSI, pinMISO, pinSCK, link)</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  { <a class="code" href="class_t_m_c5160_stepper.html#a2b9b72c13c1f667d274927e1d56d2298">defaults</a>(); }</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="class_t_m_c5160_stepper.html#a2b9b72c13c1f667d274927e1d56d2298">   13</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5160_stepper.html#a2b9b72c13c1f667d274927e1d56d2298">TMC5160Stepper::defaults</a>() {</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  SHORT_CONF_register.s2vs_level = 6;</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  SHORT_CONF_register.s2g_level = 6;</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  SHORT_CONF_register.shortfilter = 0b01;</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  SHORT_CONF_register.shortdelay = 0;</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  DRV_CONF_register.bbmtime = 0;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  DRV_CONF_register.bbmclks = 4;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  DRV_CONF_register.otselect = 0b00;</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  DRV_CONF_register.drvstrength = 0b10;</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  DRV_CONF_register.filt_isense = 0b00;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  TPOWERDOWN_register.sr = 10;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  VSTOP_register.sr = 1;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  ENC_CONST_register.sr = 65536;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="comment">//MSLUT0_register.sr = ???;</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="comment">//MSLUT1_register.sr = ???;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="comment">//MSLUT2_register.sr = ???;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="comment">//MSLUT3_register.sr = ???;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="comment">//MSLUT4_register.sr = ???;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="comment">//MSLUT5_register.sr = ???;</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="comment">//MSLUT6_register.sr = ???;</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="comment">//MSLUT7_register.sr = ???;</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="comment">//MSLUTSEL_register.sr = ???;</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="comment">//MSLUTSTART_register.start_sin = 0;</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="comment">//MSLUTSTART_register.start_sin90 = 247;</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  CHOPCONF_register.sr = 0x10410150;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  PWMCONF_register.sr = 0xC40C001E;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;}</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="class_t_m_c5160_stepper.html#a5a12974304588f9d01898d91ba854b87">   41</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5160_stepper.html#a5a12974304588f9d01898d91ba854b87">TMC5160Stepper::push</a>() {</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <a class="code" href="class_t_m_c_stepper.html#a597bc308bad0d1198b98c48a6ef34fc3">IHOLD_IRUN</a>(IHOLD_IRUN_register.sr);</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <a class="code" href="class_t_m_c_stepper.html#a66812c883dfbb6dedc046a011b2564be">TPOWERDOWN</a>(TPOWERDOWN_register.sr);</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <a class="code" href="class_t_m_c_stepper.html#ac59a9305aafc64a63698a34cac404788">TPWMTHRS</a>(TPWMTHRS_register.sr);</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#aee84a9abfc84b387c6ae5658f90bf684">GCONF</a>(GCONF_register.sr);</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#a5db9c2e01d8c1994a5c58d0bf0b1d9b1">TCOOLTHRS</a>(TCOOLTHRS_register.sr);</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#a8e7d22e8bc39e89b4a02ad1460e4cf25">THIGH</a>(THIGH_register.sr);</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#af486cd4712be021c735fc3bcb8eee9f5">XDIRECT</a>(XDIRECT_register.sr);</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#a4389f7f07c57d2267351b781c6031fb4">VDCMIN</a>(VDCMIN_register.sr);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#a67541b27d97ce45f175e9f6e4a2d0bff">CHOPCONF</a>(CHOPCONF_register.sr);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#abc48be984238d94bb3b72ed3aa26f028">COOLCONF</a>(COOLCONF_register.sr);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#a1a90b2919efe61dd825552c2fbeca993">DCCTRL</a>(DCCTRL_register.sr);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <a class="code" href="class_t_m_c2160_stepper.html#ae59c6240979e95e7b05074e20f3600de">PWMCONF</a>(PWMCONF_register.sr);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <a class="code" href="class_t_m_c2160_stepper.html#afff5a7b8d79d2575ae5b3061e463ba3d">SHORT_CONF</a>(SHORT_CONF_register.sr);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <a class="code" href="class_t_m_c2160_stepper.html#adce396d6676a252e87507a30ba44c693">DRV_CONF</a>(DRV_CONF_register.sr);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <a class="code" href="class_t_m_c2160_stepper.html#a4dc485fd467892f35f98ad6ea30b6d21">GLOBAL_SCALER</a>(GLOBAL_SCALER_register.sr);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#acebb43936d46f78195486c79dc2cf75e">SLAVECONF</a>(SLAVECONF_register.sr);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#af8d19dd1bae46451e78573843d52cd36">TMC_OUTPUT</a>(OUTPUT_register.sr);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a694840324312e15515f3215c83565645">X_COMPARE</a>(X_COMPARE_register.sr);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a020e6ae2a6abce1a92338345aab2ae7c">RAMPMODE</a>(RAMPMODE_register.sr);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a7ddd27bea8034e6aec78ab2cf83cedd4">XACTUAL</a>(XACTUAL_register.sr);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a93bf8f37da496535e8c7313096051de7">VSTART</a>(VSTART_register.sr);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a6476b50719166c3d820991d266025dee">A1</a>(A1_register.sr);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#ac24024aff92555221df26b8d30ccbe09">V1</a>(V1_register.sr);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a1d199eabd1b7da86c2518603c10bf8d9">AMAX</a>(AMAX_register.sr);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#aaa76fdd1c6e8e7f6bb886e0b0031a500">VMAX</a>(VMAX_register.sr);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a4ba4cbc9e54f1f43255ebeca609a3d7c">DMAX</a>(DMAX_register.sr);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#aaa7d6b05f9e6fc1bcb4d3b59de16f509">D1</a>(D1_register.sr);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a7afed936cd9b037d460dc30433d89911">VSTOP</a>(VSTOP_register.sr);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a3da5ddefeaea5e017d8e608e43269e1e">TZEROWAIT</a>(TZEROWAIT_register.sr);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#af78bc5ec6076b4e7ac8006488b069413">SW_MODE</a>(SW_MODE_register.sr);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a3c7840e9435d4332fc6a7742deeefa9f">ENCMODE</a>(ENCMODE_register.sr);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a5cf838fb4ec111c06714f666e8e1807b">ENC_CONST</a>(ENC_CONST_register.sr);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <a class="code" href="class_t_m_c5160_stepper.html#a6da53737f78754d0c7c20bec80147e16">ENC_DEVIATION</a>(ENC_DEVIATION_register.sr);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;}</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="comment">// R+WC: ENC_STATUS</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="class_t_m_c5160_stepper.html#a3a64ce4aeeda0a8c3fbe07baed1c5317">   78</a></span>&#160;uint8_t <a class="code" href="class_t_m_c5160_stepper.html#a3a64ce4aeeda0a8c3fbe07baed1c5317">TMC5160Stepper::ENC_STATUS</a>() { <span class="keywordflow">return</span> <a class="code" href="class_t_m_c2130_stepper.html#aed0175bff6e80ebc14e0d2606283cbe0">read</a>(<a class="code" href="struct_t_m_c5130_stepper_1_1_e_n_c___s_t_a_t_u_s__t.html#a504a76eac8837bf0b65018bf1ff710de">ENC_STATUS_t::address</a>); }</div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="class_t_m_c5160_stepper.html#a5b60cb0c1913fc270311011223782363">   79</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5160_stepper.html#a3a64ce4aeeda0a8c3fbe07baed1c5317">TMC5160Stepper::ENC_STATUS</a>(uint8_t input) {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(<a class="code" href="struct_t_m_c5130_stepper_1_1_e_n_c___s_t_a_t_u_s__t.html#a504a76eac8837bf0b65018bf1ff710de">ENC_STATUS_t::address</a>, input &amp; 0x3);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;}</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="comment">// W: ENC_DEVIATION</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="class_t_m_c5160_stepper.html#a6da53737f78754d0c7c20bec80147e16">   84</a></span>&#160;uint32_t <a class="code" href="class_t_m_c5160_stepper.html#a6da53737f78754d0c7c20bec80147e16">TMC5160Stepper::ENC_DEVIATION</a>() { <span class="keywordflow">return</span> ENC_DEVIATION_register.sr; }</div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="class_t_m_c5160_stepper.html#a42b5bd196fdbb78044b669342384ec28">   85</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5160_stepper.html#a6da53737f78754d0c7c20bec80147e16">TMC5160Stepper::ENC_DEVIATION</a>(uint32_t input) {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    ENC_DEVIATION_register.sr = input;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(ENC_DEVIATION_register.address, ENC_DEVIATION_register.sr);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;}</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="comment">// R: PWM_AUTO</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="class_t_m_c5160_stepper.html#a7e8ae217437e9ca5ab353cb7a9d30b82">   91</a></span>&#160;uint32_t <a class="code" href="class_t_m_c5160_stepper.html#a7e8ae217437e9ca5ab353cb7a9d30b82">TMC5160Stepper::PWM_AUTO</a>() {</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="class_t_m_c2130_stepper.html#aed0175bff6e80ebc14e0d2606283cbe0">read</a>(<a class="code" href="struct_p_w_m___a_u_t_o__t.html#a6d2547adabb441fef0e780644aa4d3b1">PWM_AUTO_t::address</a>);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;}</div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="class_t_m_c5160_stepper.html#aff4a597a0ae5a90406a3543e2cd63568">   94</a></span>&#160;uint8_t <a class="code" href="class_t_m_c5160_stepper.html#aff4a597a0ae5a90406a3543e2cd63568">TMC5160Stepper::pwm_ofs_auto</a>()  { <a class="code" href="struct_p_w_m___a_u_t_o__t.html">PWM_AUTO_t</a> r{0}; r.<a class="code" href="struct_p_w_m___a_u_t_o__t.html#af4f71fd86c3c3f36d278220aa80bea8d">sr</a> = <a class="code" href="class_t_m_c5160_stepper.html#a7e8ae217437e9ca5ab353cb7a9d30b82">PWM_AUTO</a>(); <span class="keywordflow">return</span> r.pwm_ofs_auto; }</div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="class_t_m_c5160_stepper.html#a2177bdd3dafe794266214c5a73d8d5af">   95</a></span>&#160;uint8_t <a class="code" href="class_t_m_c5160_stepper.html#a2177bdd3dafe794266214c5a73d8d5af">TMC5160Stepper::pwm_grad_auto</a>() { <a class="code" href="struct_p_w_m___a_u_t_o__t.html">PWM_AUTO_t</a> r{0}; r.<a class="code" href="struct_p_w_m___a_u_t_o__t.html#af4f71fd86c3c3f36d278220aa80bea8d">sr</a> = <a class="code" href="class_t_m_c5160_stepper.html#a7e8ae217437e9ca5ab353cb7a9d30b82">PWM_AUTO</a>(); <span class="keywordflow">return</span> r.pwm_grad_auto; }</div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a694840324312e15515f3215c83565645"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a694840324312e15515f3215c83565645">TMC5130Stepper::X_COMPARE</a></div><div class="ttdeci">uint32_t X_COMPARE()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00105">TMC5130Stepper.cpp:105</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a7ddd27bea8034e6aec78ab2cf83cedd4"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a7ddd27bea8034e6aec78ab2cf83cedd4">TMC5130Stepper::XACTUAL</a></div><div class="ttdeci">int32_t XACTUAL()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00119">TMC5130Stepper.cpp:119</a></div></div>
<div class="ttc" id="aclass_t_m_c5160_stepper_html_a6bac7c5223645da8e54aca6ff9ad700f"><div class="ttname"><a href="class_t_m_c5160_stepper.html#a6bac7c5223645da8e54aca6ff9ad700f">TMC5160Stepper::TMC5160Stepper</a></div><div class="ttdeci">TMC5160Stepper(uint16_t pinCS, float RS=default_RS, int8_t link_index=-1)</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5160_stepper_8cpp_source.html#l00004">TMC5160Stepper.cpp:4</a></div></div>
<div class="ttc" id="astruct_p_w_m___a_u_t_o__t_html_af4f71fd86c3c3f36d278220aa80bea8d"><div class="ttname"><a href="struct_p_w_m___a_u_t_o__t.html#af4f71fd86c3c3f36d278220aa80bea8d">PWM_AUTO_t::sr</a></div><div class="ttdeci">uint32_t sr</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5160__bitfields_8h_source.html#l00052">TMC5160_bitfields.h:52</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_a8e7d22e8bc39e89b4a02ad1460e4cf25"><div class="ttname"><a href="class_t_m_c2130_stepper.html#a8e7d22e8bc39e89b4a02ad1460e4cf25">TMC2130Stepper::THIGH</a></div><div class="ttdeci">uint32_t THIGH()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c2130_stepper_8cpp_source.html#l00244">TMC2130Stepper.cpp:244</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a93bf8f37da496535e8c7313096051de7"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a93bf8f37da496535e8c7313096051de7">TMC5130Stepper::VSTART</a></div><div class="ttdeci">uint32_t VSTART()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00134">TMC5130Stepper.cpp:134</a></div></div>
<div class="ttc" id="aclass_t_m_c2160_stepper_html_adce396d6676a252e87507a30ba44c693"><div class="ttname"><a href="class_t_m_c2160_stepper.html#adce396d6676a252e87507a30ba44c693">TMC2160Stepper::DRV_CONF</a></div><div class="ttdeci">uint32_t DRV_CONF()</div><div class="ttdef"><b>Definition:</b> <a href="_d_r_v___c_o_n_f_8cpp_source.html#l00008">DRV_CONF.cpp:8</a></div></div>
<div class="ttc" id="aclass_t_m_c2160_stepper_html_afff5a7b8d79d2575ae5b3061e463ba3d"><div class="ttname"><a href="class_t_m_c2160_stepper.html#afff5a7b8d79d2575ae5b3061e463ba3d">TMC2160Stepper::SHORT_CONF</a></div><div class="ttdeci">uint32_t SHORT_CONF()</div><div class="ttdef"><b>Definition:</b> <a href="_s_h_o_r_t___c_o_n_f_8cpp_source.html#l00007">SHORT_CONF.cpp:7</a></div></div>
<div class="ttc" id="aclass_t_m_c2160_stepper_html_a4dc485fd467892f35f98ad6ea30b6d21"><div class="ttname"><a href="class_t_m_c2160_stepper.html#a4dc485fd467892f35f98ad6ea30b6d21">TMC2160Stepper::GLOBAL_SCALER</a></div><div class="ttdeci">uint8_t GLOBAL_SCALER()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c2160_stepper_8cpp_source.html#l00145">TMC2160Stepper.cpp:145</a></div></div>
<div class="ttc" id="aclass_t_m_c5160_stepper_html_a5a12974304588f9d01898d91ba854b87"><div class="ttname"><a href="class_t_m_c5160_stepper.html#a5a12974304588f9d01898d91ba854b87">TMC5160Stepper::push</a></div><div class="ttdeci">void push()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5160_stepper_8cpp_source.html#l00041">TMC5160Stepper.cpp:41</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_a1a90b2919efe61dd825552c2fbeca993"><div class="ttname"><a href="class_t_m_c2130_stepper.html#a1a90b2919efe61dd825552c2fbeca993">TMC2130Stepper::DCCTRL</a></div><div class="ttdeci">uint32_t DCCTRL()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c2130_stepper_8cpp_source.html#l00284">TMC2130Stepper.cpp:284</a></div></div>
<div class="ttc" id="aclass_t_m_c5160_stepper_html_a3a64ce4aeeda0a8c3fbe07baed1c5317"><div class="ttname"><a href="class_t_m_c5160_stepper.html#a3a64ce4aeeda0a8c3fbe07baed1c5317">TMC5160Stepper::ENC_STATUS</a></div><div class="ttdeci">uint8_t ENC_STATUS()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5160_stepper_8cpp_source.html#l00078">TMC5160Stepper.cpp:78</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a020e6ae2a6abce1a92338345aab2ae7c"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a020e6ae2a6abce1a92338345aab2ae7c">TMC5130Stepper::RAMPMODE</a></div><div class="ttdeci">uint8_t RAMPMODE()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00112">TMC5130Stepper.cpp:112</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a3da5ddefeaea5e017d8e608e43269e1e"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a3da5ddefeaea5e017d8e608e43269e1e">TMC5130Stepper::TZEROWAIT</a></div><div class="ttdeci">uint16_t TZEROWAIT()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00191">TMC5130Stepper.cpp:191</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_abc48be984238d94bb3b72ed3aa26f028"><div class="ttname"><a href="class_t_m_c2130_stepper.html#abc48be984238d94bb3b72ed3aa26f028">TMC2130Stepper::COOLCONF</a></div><div class="ttdeci">uint32_t COOLCONF()</div><div class="ttdef"><b>Definition:</b> <a href="_c_o_o_l_c_o_n_f_8cpp_source.html#l00008">COOLCONF.cpp:8</a></div></div>
<div class="ttc" id="a_t_m_c_stepper_8h_html"><div class="ttname"><a href="_t_m_c_stepper_8h.html">TMCStepper.h</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_af78bc5ec6076b4e7ac8006488b069413"><div class="ttname"><a href="class_t_m_c5130_stepper.html#af78bc5ec6076b4e7ac8006488b069413">TMC5130Stepper::SW_MODE</a></div><div class="ttdeci">uint32_t SW_MODE()</div><div class="ttdef"><b>Definition:</b> <a href="_s_w___m_o_d_e_8cpp_source.html#l00008">SW_MODE.cpp:8</a></div></div>
<div class="ttc" id="aclass_t_m_c5160_stepper_html_a7e8ae217437e9ca5ab353cb7a9d30b82"><div class="ttname"><a href="class_t_m_c5160_stepper.html#a7e8ae217437e9ca5ab353cb7a9d30b82">TMC5160Stepper::PWM_AUTO</a></div><div class="ttdeci">uint32_t PWM_AUTO()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5160_stepper_8cpp_source.html#l00091">TMC5160Stepper.cpp:91</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html"><div class="ttname"><a href="class_t_m_c5130_stepper.html">TMC5130Stepper</a></div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c_stepper_8h_source.html#l00459">TMCStepper.h:459</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_a4389f7f07c57d2267351b781c6031fb4"><div class="ttname"><a href="class_t_m_c2130_stepper.html#a4389f7f07c57d2267351b781c6031fb4">TMC2130Stepper::VDCMIN</a></div><div class="ttdeci">uint32_t VDCMIN()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c2130_stepper_8cpp_source.html#l00264">TMC2130Stepper.cpp:264</a></div></div>
<div class="ttc" id="aclass_t_m_c2160_stepper_html_ae59c6240979e95e7b05074e20f3600de"><div class="ttname"><a href="class_t_m_c2160_stepper.html#ae59c6240979e95e7b05074e20f3600de">TMC2160Stepper::PWMCONF</a></div><div class="ttdeci">uint32_t PWMCONF()</div><div class="ttdef"><b>Definition:</b> <a href="_p_w_m_c_o_n_f_8cpp_source.html#l00028">PWMCONF.cpp:28</a></div></div>
<div class="ttc" id="astruct_p_w_m___a_u_t_o__t_html"><div class="ttname"><a href="struct_p_w_m___a_u_t_o__t.html">PWM_AUTO_t</a></div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5160__bitfields_8h_source.html#l00049">TMC5160_bitfields.h:49</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_aed0175bff6e80ebc14e0d2606283cbe0"><div class="ttname"><a href="class_t_m_c2130_stepper.html#aed0175bff6e80ebc14e0d2606283cbe0">TMC2130Stepper::read</a></div><div class="ttdeci">uint32_t read(uint8_t addressByte)</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c2130_stepper_8cpp_source.html#l00065">TMC2130Stepper.cpp:65</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_ac24024aff92555221df26b8d30ccbe09"><div class="ttname"><a href="class_t_m_c5130_stepper.html#ac24024aff92555221df26b8d30ccbe09">TMC5130Stepper::V1</a></div><div class="ttdeci">uint32_t V1()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00148">TMC5130Stepper.cpp:148</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_af8d19dd1bae46451e78573843d52cd36"><div class="ttname"><a href="class_t_m_c5130_stepper.html#af8d19dd1bae46451e78573843d52cd36">TMC5130Stepper::TMC_OUTPUT</a></div><div class="ttdeci">bool TMC_OUTPUT()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00098">TMC5130Stepper.cpp:98</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_aee84a9abfc84b387c6ae5658f90bf684"><div class="ttname"><a href="class_t_m_c2130_stepper.html#aee84a9abfc84b387c6ae5658f90bf684">TMC2130Stepper::GCONF</a></div><div class="ttdeci">uint32_t GCONF()</div><div class="ttdef"><b>Definition:</b> <a href="_g_c_o_n_f_8cpp_source.html#l00007">GCONF.cpp:7</a></div></div>
<div class="ttc" id="a_t_m_c___m_a_c_r_o_s_8h_html"><div class="ttname"><a href="_t_m_c___m_a_c_r_o_s_8h.html">TMC_MACROS.h</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a1d199eabd1b7da86c2518603c10bf8d9"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a1d199eabd1b7da86c2518603c10bf8d9">TMC5130Stepper::AMAX</a></div><div class="ttdeci">uint16_t AMAX()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00155">TMC5130Stepper.cpp:155</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_a67541b27d97ce45f175e9f6e4a2d0bff"><div class="ttname"><a href="class_t_m_c2130_stepper.html#a67541b27d97ce45f175e9f6e4a2d0bff">TMC2130Stepper::CHOPCONF</a></div><div class="ttdeci">uint32_t CHOPCONF()</div><div class="ttdef"><b>Definition:</b> <a href="_c_h_o_p_c_o_n_f_8cpp_source.html#l00007">CHOPCONF.cpp:7</a></div></div>
<div class="ttc" id="astruct_p_w_m___a_u_t_o__t_html_a6d2547adabb441fef0e780644aa4d3b1"><div class="ttname"><a href="struct_p_w_m___a_u_t_o__t.html#a6d2547adabb441fef0e780644aa4d3b1">PWM_AUTO_t::address</a></div><div class="ttdeci">constexpr static uint8_t address</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5160__bitfields_8h_source.html#l00050">TMC5160_bitfields.h:50</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a6476b50719166c3d820991d266025dee"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a6476b50719166c3d820991d266025dee">TMC5130Stepper::A1</a></div><div class="ttdeci">uint16_t A1()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00141">TMC5130Stepper.cpp:141</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_acebb43936d46f78195486c79dc2cf75e"><div class="ttname"><a href="class_t_m_c5130_stepper.html#acebb43936d46f78195486c79dc2cf75e">TMC5130Stepper::SLAVECONF</a></div><div class="ttdeci">uint16_t SLAVECONF()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00077">TMC5130Stepper.cpp:77</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_aaa76fdd1c6e8e7f6bb886e0b0031a500"><div class="ttname"><a href="class_t_m_c5130_stepper.html#aaa76fdd1c6e8e7f6bb886e0b0031a500">TMC5130Stepper::VMAX</a></div><div class="ttdeci">uint32_t VMAX()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00162">TMC5130Stepper.cpp:162</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a5cf838fb4ec111c06714f666e8e1807b"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a5cf838fb4ec111c06714f666e8e1807b">TMC5130Stepper::ENC_CONST</a></div><div class="ttdeci">uint32_t ENC_CONST()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00213">TMC5130Stepper.cpp:213</a></div></div>
<div class="ttc" id="aclass_t_m_c5160_stepper_html_aff4a597a0ae5a90406a3543e2cd63568"><div class="ttname"><a href="class_t_m_c5160_stepper.html#aff4a597a0ae5a90406a3543e2cd63568">TMC5160Stepper::pwm_ofs_auto</a></div><div class="ttdeci">uint8_t pwm_ofs_auto()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5160_stepper_8cpp_source.html#l00094">TMC5160Stepper.cpp:94</a></div></div>
<div class="ttc" id="aclass_t_m_c5160_stepper_html_a6da53737f78754d0c7c20bec80147e16"><div class="ttname"><a href="class_t_m_c5160_stepper.html#a6da53737f78754d0c7c20bec80147e16">TMC5160Stepper::ENC_DEVIATION</a></div><div class="ttdeci">uint32_t ENC_DEVIATION()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5160_stepper_8cpp_source.html#l00084">TMC5160Stepper.cpp:84</a></div></div>
<div class="ttc" id="aclass_t_m_c_stepper_html_a66812c883dfbb6dedc046a011b2564be"><div class="ttname"><a href="class_t_m_c_stepper.html#a66812c883dfbb6dedc046a011b2564be">TMCStepper::TPOWERDOWN</a></div><div class="ttdeci">uint8_t TPOWERDOWN()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c_stepper_8cpp_source.html#l00123">TMCStepper.cpp:123</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_a5db9c2e01d8c1994a5c58d0bf0b1d9b1"><div class="ttname"><a href="class_t_m_c2130_stepper.html#a5db9c2e01d8c1994a5c58d0bf0b1d9b1">TMC2130Stepper::TCOOLTHRS</a></div><div class="ttdeci">uint32_t TCOOLTHRS()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c2130_stepper_8cpp_source.html#l00237">TMC2130Stepper.cpp:237</a></div></div>
<div class="ttc" id="astruct_t_m_c5130_stepper_1_1_e_n_c___s_t_a_t_u_s__t_html_a504a76eac8837bf0b65018bf1ff710de"><div class="ttname"><a href="struct_t_m_c5130_stepper_1_1_e_n_c___s_t_a_t_u_s__t.html#a504a76eac8837bf0b65018bf1ff710de">TMC5130Stepper::ENC_STATUS_t::address</a></div><div class="ttdeci">constexpr static uint8_t address</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c_stepper_8h_source.html#l00659">TMCStepper.h:659</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_aaa7d6b05f9e6fc1bcb4d3b59de16f509"><div class="ttname"><a href="class_t_m_c5130_stepper.html#aaa7d6b05f9e6fc1bcb4d3b59de16f509">TMC5130Stepper::D1</a></div><div class="ttdeci">uint16_t D1()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00176">TMC5130Stepper.cpp:176</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_a1f26f0ea072d38c0afd20f27563ebb64"><div class="ttname"><a href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">TMC2130Stepper::write</a></div><div class="ttdeci">void write(uint8_t addressByte, uint32_t config)</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c2130_stepper_8cpp_source.html#l00148">TMC2130Stepper.cpp:148</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a3c7840e9435d4332fc6a7742deeefa9f"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a3c7840e9435d4332fc6a7742deeefa9f">TMC5130Stepper::ENCMODE</a></div><div class="ttdeci">uint32_t ENCMODE()</div><div class="ttdef"><b>Definition:</b> <a href="_e_n_c_m_o_d_e_8cpp_source.html#l00008">ENCMODE.cpp:8</a></div></div>
<div class="ttc" id="aclass_t_m_c_stepper_html_a597bc308bad0d1198b98c48a6ef34fc3"><div class="ttname"><a href="class_t_m_c_stepper.html#a597bc308bad0d1198b98c48a6ef34fc3">TMCStepper::IHOLD_IRUN</a></div><div class="ttdeci">uint32_t IHOLD_IRUN()</div><div class="ttdef"><b>Definition:</b> <a href="_i_h_o_l_d___i_r_u_n_8cpp_source.html#l00008">IHOLD_IRUN.cpp:8</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a4ba4cbc9e54f1f43255ebeca609a3d7c"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a4ba4cbc9e54f1f43255ebeca609a3d7c">TMC5130Stepper::DMAX</a></div><div class="ttdeci">uint16_t DMAX()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00169">TMC5130Stepper.cpp:169</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a7afed936cd9b037d460dc30433d89911"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a7afed936cd9b037d460dc30433d89911">TMC5130Stepper::VSTOP</a></div><div class="ttdeci">uint32_t VSTOP()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00183">TMC5130Stepper.cpp:183</a></div></div>
<div class="ttc" id="aclass_t_m_c_stepper_html_ac59a9305aafc64a63698a34cac404788"><div class="ttname"><a href="class_t_m_c_stepper.html#ac59a9305aafc64a63698a34cac404788">TMCStepper::TPWMTHRS</a></div><div class="ttdeci">uint32_t TPWMTHRS()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c_stepper_8cpp_source.html#l00133">TMCStepper.cpp:133</a></div></div>
<div class="ttc" id="aclass_t_m_c5160_stepper_html_a2b9b72c13c1f667d274927e1d56d2298"><div class="ttname"><a href="class_t_m_c5160_stepper.html#a2b9b72c13c1f667d274927e1d56d2298">TMC5160Stepper::defaults</a></div><div class="ttdeci">void defaults()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5160_stepper_8cpp_source.html#l00013">TMC5160Stepper.cpp:13</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_af486cd4712be021c735fc3bcb8eee9f5"><div class="ttname"><a href="class_t_m_c2130_stepper.html#af486cd4712be021c735fc3bcb8eee9f5">TMC2130Stepper::XDIRECT</a></div><div class="ttdeci">uint32_t XDIRECT()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c2130_stepper_8cpp_source.html#l00251">TMC2130Stepper.cpp:251</a></div></div>
<div class="ttc" id="aclass_t_m_c5160_stepper_html_a2177bdd3dafe794266214c5a73d8d5af"><div class="ttname"><a href="class_t_m_c5160_stepper.html#a2177bdd3dafe794266214c5a73d8d5af">TMC5160Stepper::pwm_grad_auto</a></div><div class="ttdeci">uint8_t pwm_grad_auto()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5160_stepper_8cpp_source.html#l00095">TMC5160Stepper.cpp:95</a></div></div>
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